#fried #WhatAmIDoing #NotSureIfTheErrorsAreMyComputerBeingDifficultOr…

src/main/java/frc/robot/RobotContainer.java

@@ -4,11 +4,14 @@
 
 package frc.robot;
 
-import frc.robot.subsystems.Intake;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.subsystems.Elevator;
+import frc.robot.subsystems.Shooter;
+import frc.robot.subsystems.Funnel;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -18,10 +21,17 @@
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-  private final Intake m_intake = new Intake();
+
+  private final Shooter m_shooter = new Shooter();
+
+  private final Funnel m_funnel = new Funnel();
 
   private final Joystick main_stick = new Joystick(4);
 
+  //private final Climber m_climber = new Climber();
+
+  private final Elevator m_Elevator = new Elevator();
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the trigger bindings
@@ -31,39 +41,61 @@ public RobotContainer() {
   private void configureBindings() {
 
 
-    new JoystickButton(main_stick, 1)
+    new JoystickButton(main_stick, 7)
         .whileTrue(new StartEndCommand(
-            () -> m_intake.runMotors(0.4), 
-            () -> m_intake.runMotors(0)));
+            () -> m_shooter.runMotors(.2), 
+            () -> m_shooter.runMotors(0)));
 
-    new JoystickButton(main_stick, 2)
-        .whileTrue(new StartEndCommand(
-            () -> m_intake.runMotors(-0.4), 
-            () -> m_intake.runMotors(0)));
+    new JoystickButton(main_stick, 8)
+        .onTrue(new InstantCommand(m_funnel::flip));
 
-    new JoystickButton(main_stick, 3)
-        .whileTrue(new StartEndCommand(
-            () -> m_intake.runMotors(0.9), 
-            () -> m_intake.runMotors(0)));
+    /*new JoystickButton(main_stick, 9)
+        .onTrue(new IntantCommand(m_climber::grabDown(2)));
 
-    new JoystickButton(main_stick, 4)
-        .whileTrue(new StartEndCommand(
-            () -> m_intake.runMotors(-0.9), 
-            () -> m_intake.runMotors(0)));
+    new JoystickButton(main_stick, 9)
+      .whileTrue(new StartEndCommand(
+          () -> m_climber.grabUp(2), 
+          () -> m_climber.afk()));
 
-    new JoystickButton(main_stick, 5)
-        .whileTrue(new StartEndCommand(
-            () -> m_intake.runWrist(1), 
-            () -> m_intake.runWrist(0)));
+    new JoystickButton(main_stick, 10){
+      .whileTrue(new StartEndCommand(
+          () -> m_climber.runMotors(2), 
+          () -> m_climber.afk()));
 
-    new JoystickButton(main_stick, 6)
-        .whileTrue(new StartEndCommand(
-            () -> m_intake.runWrist(-1), 
-            () -> m_intake.runWrist(0)));
+    //button 3
+    new JoystickButton(main_stick,12)
+      .onTrue(new StartEndCommand(, 
+          () -> m_climber.afk()));
+
+    //upButton
+    new JoystickButton(main_stick,11)
+      .whileTrue(new StartEndCommand(
+          () -> m_climber.grabUp(2), 
+          () -> m_climber.afk()));
+
+    //downbutton
+    new JoystickButton(main_stick,11)
+      .whileTrue(new StartEndCommand(
+          () -> m_climber.grabDown(2), 
+          () -> m_climber.afk()));
+
+
+*/
+
+//i've got this *ding*
 
+          //l4 preset
+    new JoystickButton(main_stick, 9)
+      .whileTrue(new StartEndCommand(
+        () -> m_Elevator.l4(),
+        () -> m_Elevator.afk()));
+
+
+    }
     // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
     // cancelling on release.
   }
+
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/ExampleCommand.java

@@ -1,43 +1,43 @@
-// // Copyright (c) FIRST and other WPILib contributors.
-// // Open Source Software; you can modify and/or share it under the terms of
-// // the WPILib BSD license file in the root directory of this project.
-
-// package frc.robot.commands;
-
-// import frc.robot.subsystems.ExampleSubsystem;
-// import edu.wpi.first.wpilibj2.command.Command;
-
-// /** An example command that uses an example subsystem. */
-// public class ExampleCommand extends Command {
-//   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-//   private final ExampleSubsystem m_subsystem;
-
-//   /**
-//    * Creates a new ExampleCommand.
-//    *
-//    * @param subsystem The subsystem used by this command.
-//    */
-//   public ExampleCommand(ExampleSubsystem subsystem) {
-//     m_subsystem = subsystem;
-//     // Use addRequirements() here to declare subsystem dependencies.
-//     addRequirements(subsystem);
-//   }
-
-//   // Called when the command is initially scheduled.
-//   @Override
-//   public void initialize() {}
-
-//   // Called every time the scheduler runs while the command is scheduled.
-//   @Override
-//   public void execute() {}
-
-//   // Called once the command ends or is interrupted.
-//   @Override
-//   public void end(boolean interrupted) {}
-
-//   // Returns true when the command should end.
-//   @Override
-//   public boolean isFinished() {
-//     return false;
-//   }
-// }
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Shooter;
+
+/** An example command that uses an example subsystem. */
+public class ExampleCommand extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Shooter m_subsystem;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ExampleCommand(Shooter subsystem) {
+    m_subsystem = subsystem;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Climber

@@ -0,0 +1,34 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Climber extends SubsystemBase {
+
+    TalonFX motor_one, motor_two;
+
+    public Climber() {
+        motor_one = new TalonFx(27, /*idk what type our motors are*/);
+        motor_two = new TalonFX(28, /*idk what type our motors are*/ );
+    }
+
+    public void grabUp(double volts) {
+        motor_one.set(volts);
+        motor_two.set(volts);
+    }
+
+    public void afk(){
+        motor_one.set(0.5);
+        motor_two.set(0.5)
+    }
+
+    public void grabDown(double volts) {
+        motor_one.set(-volts);
+        motor_two.set(-volts);
+    }
+
+}

src/main/java/frc/robot/subsystems/Elevator.java

@@ -0,0 +1,101 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Elevator extends SubsystemBase {
+   TalonFx motor_one;
+   TalonFX motor_two;
+
+    //max speed is .05
+
+public Elevator(){
+    //lmk if these below are errors on the team computer too because 
+    //it might just be my computer being difficult again
+    motor_one; = new TalonFx(/*port*/);
+    motor_two; = new TalonFx(/*port*/);  //side note (again ikr eyeroll) idk the ports but 
+                                      //im pretty sure the ones we use are in the constants...
+
+    motor_one.setPosition(0);
+    motor_one.set(.02);         //you can change this value if its too slow
+                                // i think...
+    motor_one.setPosition(0);
+    motor_two.set(.02);
+
+//most of the stuff is encoder values i believe bc setPosition is 
+//using rotations 
+}
+    //grab values from actual tests from riologs?
+    double l4value = motor_one.getPositon();
+    //assuming levels are equidistant
+    public double l3val = .66*l4value;
+    public double l2val = .33*l4value;
+    public double l1val =  0.01;
+
+    public void runMotors(double speed) {
+        motor_one.set(speed);
+        motor_two.set(-speed);
+
+    }
+
+//making seperate methods for each level so perchance i can set
+//one button per each thing
+//joystick thing was perchance too ambitious
+    public void l4(){
+        motor_one.setPositon(l4value);
+        motor_two.setPosition(-l4value);
+        //idk if this works for sure, if the 
+        // motors work in opposite directions th
+        // en do they do to the same positon but 
+        // just like the opposite? idk. 
+        //gemini said yes 🥹
+
+    }
+
+    public void l3(){
+        motor_one.setPositon(l3value);
+        motor_two.setPosition(-l3value);
+    }
+
+    public void l2(double l2value){
+        motor_one.setPositon(l2value);
+        motor_two.setPosition(-l2value);
+    }
+
+
+    //i believe zeroeing out the position after each preset might 
+    //make these work and im scared to see what would happen
+    //if you dont
+
+    public void zeroout(){
+        motor_one.setPosition(0);
+        motor_one.setPosition(0);
+    } //if this line has an error for you i genuinely dont know why 
+    //girl bye this bracket is making me go insane
+    //the class ISN'T supposed to end liek dawg ik
+    //vscode make sense challenge go!t6y54rt
+
+
+    //my attempt with the joysticks 🫩✌️
+    //the rest is in robot container where all the controls are
+    //just fry me already
+
+    public void generalmove(velo){
+        motor_one.setVotlage(velo);
+    }
+    //this error above is related to the one on line 77... 🫩
+    //(insert speed gif) 
+
+    //also gonna make an "afk" thing that applies constant voltage to perchance 
+    //keep the elevator at the target position like how we did witht eh climber wow
+
+    public void afk(){
+        if(motor_one.getPositon() < )
+    }
+
+}

src/main/java/frc/robot/subsystems/Funnel.java

@@ -0,0 +1,32 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Funnel extends SubsystemBase {
+
+    Servo motor_one, motor_two;
+    boolean on_off = false;
+
+    public Funnel() {
+        motor_one = new Servo(1);
+        motor_two = new Servo(2);
+    }
+
+    public void setBoth(double angle, double secondAngle) {
+        motor_one.setAngle(angle);
+        motor_two.setAngle(secondAngle);
+    }
+
+    public void flip() {
+        if (on_off) {
+            motor_one.setAngle(180.0);
+            motor_two.setAngle(0);
+        } else {
+            motor_one.setAngle(0);
+            motor_two.setAngle(180.0);
+        }
+        on_off = !on_off;
+    }
+
+}